               (to-array names)
               (to-array angles) speed))
 
-;; broken - can't construct variant holding array of values 
+;; broken - can't construct variant holding array of values
 (defn change-joint-angles
   "Relative changes to joint angles"
   [robot names changes speed]

                    :tts "com.aldebaran.proxy.ALTextToSpeechProxy"
                    })

(def joint-names '("HeadYaw", "HeadPitch", 
                   "LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", 
                   "LWristYaw", "LHand",
                   "LHipYawPitch", "LHipRoll", "LHipPitch", 
                   "LKneePitch", "LAnklePitch", "LAnkleRoll",
                   "RHipYawPitch", "RHipRoll", "RHipPitch", 
                   "RKneePitch",  "RAnklePitch", "RAnkleRoll",
                   "RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll", 
                   "RWristYaw", "RHand"))

(def postures {:crouch "Crouch"

(defn set-volume
  "Set the volume used by the robot"
  [robot vol]
  (.setVolume (get-proxy robot :tts) (float vol)))
